CN110377038A - A kind of robot evacuation running method, device and robot - Google Patents
A kind of robot evacuation running method, device and robot Download PDFInfo
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- CN110377038A CN110377038A CN201910637516.XA CN201910637516A CN110377038A CN 110377038 A CN110377038 A CN 110377038A CN 201910637516 A CN201910637516 A CN 201910637516A CN 110377038 A CN110377038 A CN 110377038A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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Abstract
The present invention provides a kind of robot evacuation running method, device and robots, suitable for technical field of data processing, this method comprises: obtaining all robot priority, the current location in topological path map and driving parameters in robot local environment topological path map and environment to be processed；Based on topological path map and all robot priority and current location, search in the environmental area for presetting size locating for robot to be processed, all priority are higher than the higher priority robot of robot to be processed；When higher priority robot quantity is greater than zero, the region scene type in environment-identification region；If region scene type belongs to default conflict scene type, based on current location and the driving parameters of corresponding default evacuation mode, environment path map, robot to be processed and higher priority robot, controls robot to be processed and evacuation traveling is carried out to higher priority robot.The embodiment of the present invention makes robot evacuation traveling more flexible and efficient.
Description
Technical field
The invention belongs to technical field of data processing more particularly to robot evacuation running methods and robot.
Background technique
In the indoor environment of environment complexity, such as in KTV, market and dining room service location, if existing simultaneously more machines
Device people, since every robot task can be relatively independent, so that route conflict very likely occurs in motion in robot
Situation, thus the problems such as being easy to appear collision and deadlock.
It is all to be arranged one for all robots in the prior art in order to avoid the problems such as collision and deadlock occurs in robot
Corresponding main control device carries out unified regulation to all robots traveling by main control device, realizes mutually keeping away for all robots
Collaboration is allowed to travel.But in actual conditions, since main control device is all the task with reference to all robots in unified regulation
Whole measure is carried out to dispatch, and practical indoor environment is complicated, it is more more that each robot is likely encountered situation in the process of moving
Sample is complicated, often can not be good although whole measure the case where scheduling can alleviate route running conflict to a certain extent
Reply robot avoids demand in real time, travels not flexible evacuation inefficiency so as to cause robot evacuation, robot is whole
Task execution is inefficient.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of robot evacuation running method and robot, it is existing to solve
Robot integrally avoids the not flexible evacuation inefficiency of traveling in technology, causes robot overall task execution efficiency is not high to ask
Topic.
The first aspect of the embodiment of the present invention provides a kind of robot evacuation running method, comprising:
Obtain the preferential of the robot for including in the topological path map and environment of robot local environment to be processed
Grade, the current location in the topological path map and driving parameters；
The machine to be processed is searched in priority and current location based on the topological path map and all robots
In the environmental area for presetting size locating for device people, all priority are higher than the higher priority robot of the robot to be processed；
When the higher priority robot quantity found out is greater than zero, the region scene class of the environmental area is identified
Type；
If the region scene type belongs to default conflict scene type, corresponding default based on the region scene type
Evacuation mode, the environment path map, the current location of the robot to be processed and driving parameters and the height are preferential
The current location of grade robot and driving parameters control the robot to be processed and avoid to the higher priority robot
Traveling.
The second aspect of the embodiment of the present invention provides a kind of robot evacuation mobile devices, comprising:
Data acquisition module, the interior packet of topological path map and environment for obtaining robot local environment to be processed
The priority of the robot contained, the current location in the topological path map and driving parameters；
Searching module is looked into for priority and current location based on the topological path map and all robots
It looks in the environmental area for presetting size locating for the robot to be processed, all priority are higher than the height of the robot to be processed
Priority robot；
Scene Recognition module, for identifying the ring when the higher priority robot quantity found out is greater than zero
The region scene type in border region；
Evacuation traveling module is based on the region if belonging to default conflict scene type for the region scene type
The corresponding default evacuation mode of scene type, the environment path map, the current location of the robot to be processed and traveling
The current location and driving parameters of parameter and the higher priority robot control the robot to be processed to the Gao You
Xian Ji robot carries out evacuation traveling.
The third aspect of the embodiment of the present invention provides a kind of robot evacuation driving system, comprising: one or more is waited for
Handling machine people；
The robot to be processed, the machine for including in the topological path map and environment for obtaining its local environment
The priority of device people, the current location in the topological path map and driving parameters；
The robot to be processed is also used to the priority based on the topological path map and all robots and works as
The high priority that all priority in the environmental area of its locating default size are higher than the robot to be processed is searched in front position
Robot；
The robot to be processed is also used to the identification when the higher priority robot quantity found out is greater than zero
The region scene type of the environmental area；
The robot to be processed is based on institute if being also used to the region scene type belongs to default conflict scene type
State the current location of the corresponding default evacuation mode of region scene type, the environment path map, the robot to be processed
With the current location and driving parameters of driving parameters and the higher priority robot, the higher priority robot is carried out
Evacuation traveling.
The fourth aspect of the embodiment of the present invention provides a kind of robot, and the robot includes memory, processor, institute
The computer program for being stored with and being run on memory on the processor is stated, the processor executes the computer program
The step of Shi Shixian robot as described above avoids running method.
5th aspect of the embodiment of the present invention provides a kind of computer readable storage medium, comprising: is stored with computer
Program, which is characterized in that the computer program realizes robot evacuation running method as described above when being executed by processor
The step of.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the embodiment of the present invention, certainly by robot
Body can carry out real-time collision detection and carry out evacuation traveling, so that robot evacuation traveling control can be no longer dependent on
Any other control equipment, the evacuation traveling of each robot is independently of each other without the more flexible safety of artificial control maintenance, together
When only low priority robot need to carry out the operation such as collision detection and evacuation processing, for the robot of high priority
Normally travel is only needed without carrying out the processing such as conflict avoiding, relatively for all robot United Dispatchings of entirety, greatly
The workload for reducing whole robot avoids all robots and all necessarily participates in and Guaranteed (each keeps away into evacuation traveling
It allows in scene all at least one high priorities, therefore can theoretically greatly reduce the robot for participating in evacuation traveling control
Quantity), to greatly improve the efficiency of whole evacuation traveling so that robot integrally avoid travel it is more flexible and efficient,
Robot overall task execution efficiency is improved.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram for the robot evacuation running method that the embodiment of the present invention one provides；
Fig. 2 is the implementation process schematic diagram of robot evacuation running method provided by Embodiment 2 of the present invention；
Fig. 3 is the implementation process schematic diagram for the robot evacuation running method that the embodiment of the present invention three provides；
Fig. 4 is the implementation process schematic diagram for the robot evacuation running method that the embodiment of the present invention four provides；
Fig. 5 A and 5B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention five provides；
Fig. 6 A and 6B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention six provides；
Fig. 7 A and 7B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention seven provides；
Fig. 8 A and 8B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention eight provides；
Fig. 9 A and 9B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention nine provides；
Figure 10 A and 10B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention ten provides；
Figure 11 A and 11B are the implementation process schematic diagrames for the robot evacuation running method that the embodiment of the present invention 11 provides；
Figure 12 is the implementation process schematic diagram for the robot evacuation driving system that the embodiment of the present invention 12 provides；
Figure 13 is the structural schematic diagram for the robot evacuation mobile devices that the embodiment of the present invention 13 provides；
Figure 14 is the schematic diagram for the robot that the embodiment of the present invention 14 provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
To facilitate the understanding of the present invention, first the embodiment of the present invention is briefly described herein, due in such as KTV, market
In the indoor environment of the environment complexity such as dining room, if exist simultaneously the multiple robots for respectively executing task, between robot
Very likely there is travel route conflict, thus the problems such as being easy to appear collision and deadlock.In order to solve this problem, existing skill
All it is that the unified regulation of centralization is carried out to robot using a main control device in art, but is all with reference to institute when unified regulation
There is the task of robot to carry out whole measure to dispatch, and practical indoor environment is complicated, each robot in the process of moving may
It is more various complicated to encounter situation, although whole measure the case where scheduling can alleviate route running conflict to a certain extent,
Often robot can not be coped with well and avoid demand in real time, it is not flexible so as to cause robot evacuation traveling, avoid efficiency
Lowly.
In order to improve the flexibility and efficiency of robot evacuation, in the embodiment of the present invention, robot itself carries out implementation punching
It is prominent to detect and carry out evacuation traveling, so that robot evacuation traveling control can be no longer dependent on any other control and set
Standby, the evacuation of each robot traveling is more flexible safe without artificial control maintenance independently of each other, while only low priority
Robot needs to carry out the operation such as collision detection and evacuation processing, keeps away for the robot of high priority without carrying out conflict
It the processing operations such as allows, only needs normally travel, for relatively whole all robot United Dispatchings, considerably reduce entirety
The workload of robot avoids all robots and all necessarily participates in and Guaranteed (in practical application, each keeps away into evacuation traveling
It allows in scene all at least one high priorities, therefore can theoretically greatly reduce the robot for participating in evacuation traveling control
Quantity), to greatly improve the efficiency of evacuation traveling, so that robot evacuation traveling is more flexible and efficient, robot is whole
Body task execution is more efficient.Details are as follows:
Fig. 1 shows the implementation flow chart of the robot evacuation running method of the offer of the embodiment of the present invention one, and details are as follows:
S101 obtains the robot for including in the topological path map and environment of robot local environment to be processed
Priority, the current location in topological path map and driving parameters.
In embodiments of the present invention, robot local environment refers to that robot is responsible for the place total environment of service, such as takes
It is engaged in the robot of KTV, which just refers to the indoor environment of the KTV.There is record in topological path map
All robots can travel road and the corresponding attribute data of road in environment, for example, road is had a lot of social connections, road in the environment
Position and road between cross-connection relationship etc..Simultaneously in the embodiment of the present invention, robot to be processed can be environment
In any one robot, i.e., in embodiments of the present invention, the processing operation in environment when every robot conflict avoiding is all
Be it is relatively independent, voluntarily carried out by every robot data processing and traveling control etc. operation, without control device come
Carry out unified regulation.It treats handling machine people and distinguishes name, conflict avoiding will be carrying out by being only intended merely to facilitate
Robot and other robot distinguish the process to understand the embodiment of the present invention.
Meanwhile robot to be processed can also further obtain the excellent of the robot for including in environment in the embodiment of the present invention
First grade, current location and driving parameters, to provide required data for subsequent collision detection evacuation traveling etc..Wherein, consider
The task significance level that different robots execute into practical application is different, therefore each robot in embodiments of the present invention
Configured with a priority herein, wherein specific priority configuration guideline not limits, can be by technical staff according to robot
Task significance level or other factors sets itself.Driving parameters refer to the relevant parameter of robot in the process of moving, example
The destination locations travelled such as driving direction and herein, the content of parameter for specifically including, by technical staff according to actual needs Lai
It is selected.
S102, priority and current location based on topological path map and all robots, searches machine to be processed
In the environmental area for presetting size locating for people, all priority are higher than the higher priority robot of robot to be processed.
S103, when the higher priority robot quantity found out is greater than zero, the region scene type in environment-identification region.
Since conflict avoiding has certain real-time and regionality, in the embodiment of the present invention, robot is being carried out
When real-time conflict avoiding, a panel region near centered on its current location can only be detected, i.e., it only can be to of the invention real
The default size environmental area applied in example is detected, with determination robot to be processed locating scenario in real time, wherein default
The specific range of size can be configured according to actual needs, it is preferable that can be set to machine to be processed by technical staff
Artificial weight, 5 meters, 10 meters or 15 meters is in the circular scopes of radius.
In view of the prior art is robot total involvement when carrying out robot evacuation regulation, all robots are required
It participates among evacuation traveling, it is both very unfavorable for some robots to perform important duties, simultaneously for robot
Generally speaking, the workload of conflict avoiding is excessive, so that the efficiency that overall task executes is difficult to be promoted, asks to solve this
It inscribes, is proposed in the embodiment of the present invention in conflict scene, collision detection and evacuation row are only carried out by the robot of low priority
The operation such as sail, for the robot of high priority, without carrying out any collision detection and the operation behaviors such as evacuation calculates, a side
Face can ensure the smooth execution of vital task, on the other hand, since higher priority robot is without carrying out conflict avoiding, so that
The robot quantity that entirety needs to carry out the operations such as conflict avoiding largely reduces, and considerably reduces the work of whole robot
Amount, so that the efficiency of whole evacuation traveling is greatly improved, so that robot, which integrally avoids, travels more flexible and efficient, machine
People's overall task execution efficiency is improved.
It is based on principles above, robot to be processed can be detected first in its local environment region in the embodiment of the present invention
Whether than its priority more higher robot is had, and only can be when there are higher priority robot, it just can be to environmental area scene
Carry out the operation such as identification and subsequent evacuation, and if when there is no the robot of higher priority in environmental area, i.e., it is of the invention
When robot to be processed in embodiment in current environment region when the robot of highest priority, at this time robot to be processed without
The operations such as subsequent conflict set recognition evacuation traveling need to be carried out, oneself normal traveling is continued directly to.Wherein, specific to search
Method not limits herein, including but not limited to such as first according to the current location of environment path map and robot to be processed, really
Environmental area is made, the priority height of priority and robot to be processed further according to the robot for including in environmental area
It is screened, that is, can determine that higher priority robot.
Meanwhile in order to distinguish there may be conflict and there is no the scene of conflict, the embodiment of the present invention is also right in advance
Possible scene is classified, and to exist conflict scene (the default conflict scene type i.e. in the embodiment of the present invention) into
It has gone subdivision, and has been respectively provided with different evacuation schemes (the evacuation mode i.e. in the application), to different conflict scenes
Personalization evacuation traveling, ensures the safe and efficient of evacuation.Therefore, low excellent in the case where determining that robot to be processed is current scene
After Xian Ji robot, the embodiment of the present invention can also further carry out the identification of region scene type to environmental area.Wherein
Specific scene partitioning and recognition methods not limit herein, can be set according to actual needs by technical staff, including but unlimited
In progress scene partitioning and knowledges such as the directions such as travelled based on the road conditions for including in environmental area and higher priority robot
Not, or with reference to the embodiment of the present invention four to six and other related embodiment contents of the invention.
S104 is kept away if region scene type belongs to default conflict scene type based on corresponding preset of region scene type
Allow the current of mode, environment path map, the current location of robot to be processed and driving parameters and higher priority robot
Position and driving parameters control robot to be processed and carry out evacuation traveling to higher priority robot.
If region scene type belongs to one kind in the presence of conflict scene, illustrate robot to be processed in the scene of one's respective area
It can generate to travel to conflict with other robot and need to carry out evacuation traveling, to guarantee the normal work and safety of robot, therefore,
The embodiment of the present invention can search corresponding preset evacuation scheme based on specific conflict scene type belonging to region scene type, and
Current driving situation based on the evacuation scheme and robot to be processed and higher priority robot, to control machine to be processed
People carries out evacuation traveling to higher priority robot, to realize final real-time flexible and efficient evacuation.Wherein, specific every kind of punching
The prominent corresponding evacuation scheme of scene, can be set by technical staff according to demands such as actual environment, not be limited herein, such as
Avoidance traveling etc. can be carried out using higher priority robot as movable obstruction, or refer to the embodiment of the present invention four to six
And other related embodiment contents of the invention.
In the embodiment of the present invention, real-time collision detection can be carried out by robot itself and carry out evacuation traveling, to make
Any other control equipment can be no longer dependent on by obtaining robot evacuation traveling control, and the evacuation of each robot travels mutually only
It is vertical to safeguard more flexible safety without artificial control, while only the robot of low priority needs to carry out at collision detection and evacuation
The operation such as reason, only needs normally travel without carrying out the processing such as conflict avoiding for the robot of high priority, relatively
For whole all robot United Dispatchings, the workload of whole robot is considerably reduced, avoids all robots all
It necessarily participates in into Guaranteed (at least one high priority in each evacuation scene, therefore theoretically can be with of evacuation traveling
Greatly reduce the robot quantity for participating in evacuation traveling control), to greatly improve the efficiency of whole evacuation traveling, make
Robot integrally avoid travel it is more flexible and efficient, robot overall task execution efficiency is improved.
As a kind of specific implementation for obtaining robot priority, current location and driving parameters in the embodiment of the present invention one
Mode, as shown in Fig. 2, the embodiment of the present invention two includes:
S201 receives the first robot information of the robot broadcast within the scope of robot communication to be processed, and wait locate
Manage what the robot within the scope of robot communication relayed, by being in the machine in environment but being in outside robot communication range to be processed
Second robot information of device people broadcast, wherein include the machine within the scope of robot communication to be processed in the first robot information
Priority, current location and the driving parameters of device people, comprising in environment but being in machine to be processed in the second robot information
Priority, current location and the driving parameters of robot outside device people's communication range.
In order to realize the robot autonomous carry out conflict avoiding operation of decentralization, in embodiments of the present invention, in environment
The data such as priority, current location and the driving parameters of robot are voluntarily recorded by each robot and by wireless
The form of Web broadcast is sent to other robot, it is contemplated that in actual conditions, indoor environment sophisticated signal serious interference, simultaneously
It is limited based on the factors such as cost and power consumption, these all direct or indirect resulting in are difficult to keep stabilization between Liang Tai robot can
The wireless communication leaned on, therefore, in order to guarantee the normal communication between robot, in embodiments of the present invention, every robot was both
It is the signal source with broadcast capability, it can be to priority, current location and the driving parameters of radio broadcasting around itself
Etc. data, while also have the function of relay, after receiving the information of other robot, can will be connect by way of relay
The information of the other robot received is sent, and is realized that the information of " virus-type " between robot is propagated, is corresponded to separate unit at this time
For robot, as long as there is the robot that can be communicated with other robot in its range for wireless communication, it can be realized
With the information sharing of other robot, to ensure that the stabilization of priority between robot, current location and driving parameters can
By exchange.
Wherein, the first robot information and the second robot information do not refer to specific a certain information, and refer to machine
The information that people is received by the different route of transmission of two classes, but in situation, the data class content for including in two category informations
It etc. essentially identical, i.e., is all priority, current location and driving parameters comprising other robot.
S202 is handled based on the first robot information and the second robot information, is obtained in environment except machine to be processed
Priority, current location and the driving parameters of all robots other than device people.
Due to that all can be broadcasted+repeatedly be relayed by primary in the information theory of every robot, for single machine people
For, in the robot information that gets, there will certainly be more duplicate message, therefore to be processed in the embodiment of the present invention
Robot can be to the only housekeeping operations such as duplicate removal of these information, and then obtain in environment every other machine in " virus-type " spread scope
Device people priority, current location and driving parameters.
As a kind of specific implementation for obtaining robot priority, current location and driving parameters in the embodiment of the present invention one
Mode, as shown in figure 3, the embodiment of the present invention three includes:
S301 obtains the corresponding task completion status of robot to be processed.
S302, if task completion status is to set machine to be processed for preset first default priority in task execution
The corresponding priority of device people.
S303 sets robot to be processed for preset second default priority if task completion status is no task
Corresponding priority, wherein the first default priority is higher than the second default priority.
It is only merely by low priority in view of reducing the workload of whole robot in the embodiment of the present invention one
Robot carry out conflict avoiding operation, therefore for single machine people, when it is responsible for performing important duties, the present invention
The high maximization that can preferentially guarantee its running efficiency of embodiment one, but in actual conditions, for every robot, it is
With having task (i.e. in task execution) and without task two states, and the in general total duration without task status can be greater than and appoint
Business execute in, if therefore robot priority remain unchanged always, when a certain robot is in no task status, for other
If traveling conflict occurs for the robot of the task of execution, interference may also be will receive even if there is the robot of task, especially
It is less than for the robot of the robot task significance level, undoubtedly will cause serious traveling interference.
Therefore, in order to improve whole robot row task execution efficiency, the embodiment of the present invention can be arranged to each robot
Two different default priorities, wherein the first default priority corresponds to robot task significance level and is arranged preferential
Grade, the second default priority then corresponds to the priority that robot is without task, and the first default priority is higher than second and writes from memory
Recognize priority, so that robot, after having executed task, priority is reduced, reduces without task equipment people to entirety
The influence of robot traveling.Wherein, the occurrence size of the first default priority and the second default priority can be by technical staff
Sets itself, the data of each robot can be different, and are directed to the task of different significance levels, and the first of individual machine people is silent
Recognizing priority can also be different.
As the preferred embodiment that the present invention is, the first default priority minimum value of all robots in environment,
Greater than the second default priority maximum value of all robots.
Due to when robot is in the first default priority, illustrating that it, in execution task, writes from memory when robot is in second
When recognizing priority, illustrate that it needs to be implemented (may be do not arrange task or just executed task) without task, in order to the greatest extent may be used
Can ground ensure there is the robot of task safely and efficiently can travel and execute task, in the embodiment of the present invention can by institute whether there is or not times
The robot priority of business is disposed as being less than the priority of the robot with task, as long as so that robot does not arrange
Task has executed task, when being travelled, the robot with task all can be actively avoided, so that there is task
Robot may not need the robot for these without task and carry out the operation such as collision detection and evacuation traveling, maximumlly reduce
To the interference that robot task executes, ensure that robot overall task execution efficiency is not high.Specifically, in order to realize in environment
First default priority minimum value of all robots can be incited somebody to action greater than the second default priority maximum value of all robots
First default priority is disposed as positive number, while the second default priority is disposed as negative, such as the second default is excellent
First grade is set as the opposite number of the first default priority, so that the first default priority minimum value, is also bound to be greater than the
The maximum value of two default priorities.
In embodiments of the present invention, the robot priority decline of no task, so that the robot for being carrying out task is excellent
First grade " raising " causes the robot of no task to become the side actively avoided, reduces no task equipment people and executes to normal
The interference of task equipment people, maximumlly ensure that the normal execution of robot task, simultaneously as having task and being without task
(no task status includes not arranging task and having executed task to one corresponding existing state, and one of robot exists
After having executed task, corresponding Distance Time without traveling needed for task driving process etc. substantially can with when the task of execution without
It is different), although have task and the robot quantity without task be can real-time change, due to having executed task and to have task be one
A corresponding process, and include the case where not arranging task without task, therefore for whole statistics such as one day in a period of time
Interior, robot can be greater than the state for time for having task without the task status time, and therefore, the embodiment of the present invention can be direct
Reduce robot entirety half multipriority so that largely be originally need to carry out conflict avoiding processing operation robot it is preferential
Grade " raising ", no longer needs to carry out these calculating process, it is only necessary to which normally travel is fixed preferential under priority case relatively
For grade evacuation, the overall task for greatly improving robot is executed, so that whole robot executes the efficiency and spirit of task
Activity is greatly improved.
As a kind of specific implementation of the region scene type in environment-identification region in the embodiment of the present invention one, such as scheme
Shown in 4, the embodiment of the present invention four, comprising:
S401, based on the path type for including in topological path Map recognition environmental area.
In embodiments of the present invention, path type includes some road conditions that may be met, such as blind alley (only has
The road of one entrance), crossroad (i.e. two or more roads cross), straight road and turning road etc..In order to ensure machine
People's should safely and effectively can carry out effective avoidance to a variety of different conflict situations, can be to a variety of possibility in the embodiment of the present invention
The conflict road conditions encountered are classified, and obtain different path types, and between robot under every kind of path type
Actual travel situation is arranged different avoidance strategies, therefore the topological path first in the surrounding area according to locating for user
Map determines real road situation, if such as only one entrance road, then be identified as blind alley, if two
The above road crosses, and is identified as crossroad, if normal straight road, is then identified as straight road etc..Wherein, specifically
Road conditions classification method not limits herein, can be by technical staff's situation sets itself according to actual needs.
S402, based on topological path map, the current location of higher priority robot, driving direction and destination locations with
And with the current location of robot to be processed, driving direction and destination locations, identify higher priority robot and machine to be processed
Device people is with the presence or absence of traveling conflict.
While identifying the road conditions in robot local environment to be processed region, the embodiment of the present invention can also be known together
Traveling whether may occur between robot and higher priority robot not to be processed to conflict, i.e., according to topological path map, machine
Device people current location, destination locations and driving direction, driving path of the calculating robot within following a period of time, and
Identify whether that there may be travelings to conflict based on the driving path of robot to be processed and higher priority robot.It is wherein specific
Traveling collision detection method herein not limit, can by technical staff's sets itself, including but not limited to as simultaneously will be wait locate
The driving path of reason robot and higher priority robot, which is compared, judges whether there is crossing instances, and if it exists, then judges
Conflict in the presence of traveling.
S403 is based on path type, high priority if higher priority robot and robot to be processed have traveling conflict
Current location, driving direction and the destination locations of robot and with the current location of robot to be processed, driving direction and
Destination locations, the region scene type in environment-identification region.
When the presence of recognition result travels conflict, the embodiment of the present invention can also be further based on the road feelings identified
The travel situations of condition and robot to be processed and higher priority robot, further to identify the conflict scene refined in real time
Type is kept away to provide data for the subsequent evacuation traveling for carrying out personalization for different refinement conflict scene types with ensureing
Allow the flexible safety of traveling.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
A kind of specific implementation sailed, as shown in Fig. 5 A and 5B, the embodiment of the present invention five, comprising:
S501, if path type is that crossroad, higher priority robot and robot current location to be processed are located at
The destination locations of the different cross road, higher priority robot and robot to be processed in crossroad are located at the same cross road, and mesh
Position locating for cross road non-high priority robot or the cross road where robot current location to be processed, then determine environment
Region is first kind conflict scene type.
In order to make it easy to understand, crossroad is is illustrated in the embodiment of the present invention for road junction, with reference to Fig. 5 B, it is assumed that
The current location of handling machine people A and higher priority robot B are five-pointed star position, corresponding destination locations a and mesh
Position b be circle position, driving direction be corresponding arrow direction, meet current location institute, Liang Ge robot at this time
In cross road difference, but the cross road where destination locations is identical and is not at the same cross road with Liang Ge robot, meets at this time above-mentioned
First kind conflict scene type is required, therefore can directly be determined as that environmental area is first kind conflict scene type.
S502, calculate robot current location to be processed respectively with intersection distance a and higher priority robot
Current location and intersection distance b, wherein a, b are positive number.
S503, if b-a > c, or | a-b |≤c controls robot pause traveling to be processed, until higher priority robot
Traveling to higher priority robot current location and destination locations is located at the same cross road, restores robot traveling to be processed,
In, c is preset constant item.
S504, if a-b > c, control robot to be processed to its destination locations travel, and control robot to be processed to
Higher priority robot sends pause driving instruction, and pause driving instruction is for controlling higher priority robot pause traveling, directly
It travels to robot to be processed to robot current location to be processed and destination locations and is located at the same cross road, restore high priority
Robot traveling.
For the first kind conflicts scene type, there is intersection in robot and higher priority robot to be processed
The risk of collision, thus both can identify first in order to avoid collision, in the embodiment of the present invention respectively between cross road mouth away from
From a and distance b, and the difference condition between two distances can be further determined, if the two difference is little or even identical, at this time
Robot to be processed can suspend traveling, wait until always higher priority robot drive to after the same cross road of its destination locations b,
It can just restore to travel, at this time since higher priority robot has passed through safely intersection, and robot to be processed also exists
Below, thus the two continue normally travel when risk of collision would not occur.Wherein, judge the whether excessive threshold of diversity factor
The specific size of value c can be arranged according to the actual situation by technical staff.
Meanwhile if distance a and distance b difference are excessive, although preferential higher priority robot runs over intersection at this time
The safety that both can be ensured, if but b-a > c, i.e., when intersection is close in robot to be processed, if first to high preferential
Robot traveling, may be such that robot waiting time to be processed is too long, execute to be unfavorable for whole robot task,
Therefore in a-b > c, the embodiment of the present invention still such as can be travelled preferentially by high preferential robot, but as b-a > c, then can be preferentially wait locate
Robot traveling is managed, robot to be processed can send a pause driving instruction to corresponding higher priority robot at this time, accuse
Know that its is waited in situ, until robot to be processed drives to after the same cross road of its destination locations a, then restores to travel.
In the embodiment of the present invention, pass through robot to be processed in crossroad and higher priority robot reality and intersection
The form pause and waiting for control robot apart from situation, while more being connect in robot to be processed from intersection
Preferentially robot to be processed travels when close, rather than inflexible preferential higher priority robot traveling, so that entirely avoid
Process is more flexible and efficient, avoids the decision for only considering the one-sided of priority height band, is effectively guaranteed integrated machine
The traveling evacuation and task execution efficiency of device people.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
Another specific implementation sailed, as shown in Fig. 6 A and 6B, the embodiment of the present invention six, comprising:
S601, if path type is that crossroad, higher priority robot and robot current location to be processed are in intersection
The destination locations of the same cross road, higher priority robot and robot to be processed in road are located at the different forks in crossroad
Road, and the cross road where higher priority robot current location, non-high priority robot or robot destination locations to be processed
The cross road at place then determines environmental area for third class conflict scene type.
In order to make it easy to understand, crossroad is is illustrated in the embodiment of the present invention for road junction, with reference to Fig. 6 B, it is assumed that
The current location of handling machine people A and higher priority robot B are five-pointed star position, corresponding destination locations a and mesh
Position b be circle position, driving direction be corresponding arrow direction, meet current location institute, Liang Ge robot at this time
It is identical in the cross road, but cross road difference where destination locations is identical, and is not at the same cross road with Liang Ge robot, meets at this time
Above-mentioned third class conflict scene type is required, therefore can directly be determined as that environmental area is third class conflict scene class
Type.
S602, by the small machine of the distance value of difference intersection in current location in robot to be processed and high priority machine
Device people is identified as node machine people, and it is default to judge whether node machine people's destination locations are less than at a distance from intersection
First distance threshold value.
S603, if node machine people's destination locations are less than default first distance threshold value, control at a distance from intersection
In robot and high priority to be processed machine, not a node robot carries out avoidance traveling to node machine people.
S604, if node machine people's destination locations are at a distance from intersection not less than default first distance threshold value, control
Not a node robot processed adjusts travel speed, until the current location distance between node machine people and not a node robot is greater than
Default secure threshold, adjustment not a node robot travel speed are identical as node machine people.
In embodiments of the present invention, it is contemplated that robot and higher priority robot to be processed need the row in the same cross road
It sails, it is therefore desirable to consider safety problem in same road driving between robot, and collision when by intersection
Problem.In order to guarantee the safety of robot traveling while the efficiency of raising robot overall task execution as much as possible, the present invention
In embodiment, judged in robot and higher priority robot to be processed first (i.e. originally from the closer robot in intersection
Node machine people in inventive embodiments), whether destination locations relatively close, if distance be less than first distance threshold value, that is, distance compared with
When close, illustrate that node machine people is close apart from task object, no matter node machine people is robot to be processed or Gao You at this time
Xian Ji robot, the embodiment of the present invention all can directly prior node robot normally travel to its destination locations, and be located at section
Not a node robot after point robot then needs to carry out avoidance traveling for node machine people as barrier, to guarantee entirety
The efficiency that robot task executes.And when the destination locations of node machine people apart from intersection farther out when, illustrate Node station
Device people, which is difficult to arrive at the destination in the short time, completes task, and at this time in order to ensure the driving safety between robot, the present invention is real
It applies regular meeting control and speed adjustment is carried out by the not a node robot that is located behind, to guarantee in driving process distance between robot
It is relatively fixed and safe, wherein the occurrence size of secure threshold and first distance threshold value can be excellent by technical staff's self-setting
Selection of land, safe distance can be set to 1.5 meters.
Specifically, due to the embodiment of the present invention data monitoring calculate judgement etc. processes be by priority it is lower to
What handling machine people executed, therefore, when realizing S603 and S604, if robot to be processed is non-node machine people, directly
Above-mentioned steps are completed by robot to be processed, if but higher priority robot is non-node machine people, need machine to be processed
After people detects the operation executed needed for not a node robot, dependent instruction, high priority machine are sent by robot to be processed
Device people receives as not a node robot and executes dependent instruction.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
Another specific implementation sailed, as shown in Fig. 7 A and 7B, the embodiment of the present invention seven, comprising:
S701, if path type is that turning road, higher priority robot and robot current location to be processed are located at
Turning road two sides road, and the driving direction of higher priority robot and robot to be processed is directed to turning mouth, then determines ring
Border region is the second class conflict scene type.
In order to make it easy to understand, the embodiment of the present invention is explained by taking Fig. 7 B as an example, it is assumed that robot A and height to be processed
The current location of priority robot B is five-pointed star position, and driving direction is corresponding arrow direction, meets two at this time
The cross road where robot current location is identical, but cross road difference where destination locations is identical, and is not at Liang Ge robot
The same cross road meets being required for above-mentioned second class conflict scene type at this time, therefore can directly be determined as environmental area
For the second class conflict scene type.
S702 identifies that road locating for robot to be processed is had a lot of social connections based on environment path map and whether is greater than default threshold of having a lot of social connections
Value.
S703 controls robot pause traveling to be processed, until high priority if Road is wider than default threshold value of having a lot of social connections
Robot current location and robot current location to be processed are in ipsilateral road, and higher priority robot driving direction does not refer to
To turning mouth, restore robot traveling to be processed.
S704, if road have a lot of social connections it is small be equal to default threshold value of having a lot of social connections, control robot to be processed away from turning mouth traveling, until
Robot to be processed is travelled to avoidance point preset in environment path map, is controlled robot to be processed in avoidance point and is suspended row
It sails.
For road of turning, whether most important or guarantee robot can collide before and after turning, and work as
Robot can or can not collide after driving to same path, therefore, in embodiments of the present invention, can detect robot to be processed
Locating road is had a lot of social connections, if having a lot of social connections enough Liang Tai robots driving alongside, robot pause traveling to be processed, until high preferential
Grade robot passes through turning mouth.Wherein, the position of robot pause to be processed, either real-time locating for robot when detection
Position is also possible to one position fixed with turning mouth distance of setting, such as at 3 meters of mouth of distance turning, specifically refuses herein
It limits, by technical staff's sets itself.Threshold size of having a lot of social connections default simultaneously also not limits herein, can have technical staff according to reality
The setting of border demand, but it should guarantee it is default have a lot of social connections threshold value greater than any Liang Tai robot diameter and, to ensure that robot can be with
Smoothly gone through side by side on same road.
On the other hand, it is not enough to Liang Tai robot driving alongside if having a lot of social connections, even robot pause row to be processed at this time
It sails, can not also ensure the normal safety traffic of higher priority robot, therefore, the embodiment of the present invention can be by machine to be processed at this time
People adjust driving direction traveling, until robot to be processed travel to can Liang Tai robot driving alongside avoidance point, such as
One crossing, or reach one and have a lot of social connections and be enough the road etc. of Liang Tai robot driving alongside, then suspend traveling, to ensure Gao You
The normally travel of Xian Ji robot restores robot to be processed until higher priority robot normally travel is more than avoidance point
Normally travel.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
Another specific implementation sailed, as shown in Fig. 8 A and 8B, the embodiment of the present invention eight, comprising:
S801 determines that environmental area is the 4th class conflict scene type if path type is blind alley.
It as shown in Figure 8 B, is the schematic diagram in blind alley, it is assumed that robot A's and higher priority robot B to be processed is current
Position is five-pointed star position, and corresponding destination locations a and destination locations b are circle position, and driving direction is
Corresponding arrow direction.
S802 is filtered out from robot to be processed and higher priority robot apart from the farther away evacuation machine in blind alley
People, and evacuation robot adjustment travel speed is controlled until evacuation the distance between robot and non-evacuation robot are default peace
Full distance adjusts the speed for avoiding robot to identical as non-evacuation robot.
S803, when non-evacuation robot stops when driving, evacuation robot stops traveling.
Since when robot is in blind alley, robot can not be normally carried out evacuation, at this time in order to guarantee robot
Safety, while the task execution efficiency of whole robot is maximized, the embodiment of the present invention can control the evacuation machine in rear
People in front non-evacuation robot keep safety traffic distance travel to avoid collision (in such as Fig. 8 B, machine to be processed
Artificial evacuation robot, is kept travelling with higher priority robot safe distance by robot to be processed at this time), while before being in
The non-evacuation robot meeting normally travel of side executes task, after non-evacuation robot task completes to stop traveling, after being in
Evacuation robot at square safe distance can also stop travelling, and fulfil task ahead of schedule.Wherein, if evacuation robot is Gao Youxian
Grade robot can send corresponding driving instruction from robot to be processed to higher priority robot at this time, so that high preferential
Grade robot carries out evacuation traveling according to the method described above.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
Another specific implementation sailed, as shown in Fig. 9 A and 9B, the embodiment of the present invention nine, comprising:
S901, if path type is straight road, and the driving direction phase of higher priority robot and robot to be processed
Together, then determine that environmental area is the 5th class conflict scene type.
As shown in Figure 9 B, it is assumed that the current location of robot A and higher priority robot B to be processed are in place for five-pointed star institute
It sets, corresponding destination locations a and destination locations b are circle position, and driving direction is corresponding arrow direction, at this time
As the 5th class conflict scene type.
S92 controls robot adjustment travel speed to be processed until between robot to be processed and higher priority robot
Distance be default safe distance, the speed of robot to be processed is adjusted to identical as high priority.
S903, if in robot to be processed and higher priority robot, there are robots arrived corresponding destination locations
Completion task, then controlling this arrived the robot of destination locations, be avoided according to own priority to another robot
Traveling.
In order to guarantee robot driving safety, when robot to be processed and higher priority robot are in same straight road
When, the operating range between robot adjustment to be processed and higher priority robot can be directly controlled to safe distance, to guarantee
It will not collide when driving, two machines are normally carried out traveling per capita on this basis, until the robot of front completes task, this
When in order to guarantee that whole robot task execution efficiency maximizes, can ignore completion task robot be robot to be processed also
It is higher priority robot, actively evacuation directly is carried out to abortive robot by the robot of completion task and is travelled,
So that the minimum interference that abortive robot is subject to.Wherein evacuation running method can voluntarily be set by technical staff
Fixed, the robot that task is including but not limited to such as completed continues forward traveling to the destination for being more than unfinished task equipment people
Position.If the artificial higher priority robot of task equipment is completed simultaneously, corresponding punching is being detected by robot to be processed
After prominent scene, corresponding driving instruction is sent to higher priority robot, to guarantee that normally travel avoids.The tool of safe distance
Body value can preferably can be set to 3 meters by technical staff's sets itself.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
Another specific implementation sailed, as shown in Figure 10 A and 10B, the embodiment of the present invention ten, comprising:
S1001, if path type is the driving direction phase of straight road, higher priority robot and robot to be processed
It is right, and the range difference of higher priority robot and robot destination locations to be processed is small equal to default second distance threshold value, then
Determine that environmental area is the 6th class conflict scene type.
As shown in Figure 10 B, it is assumed that the current location of robot A and higher priority robot B to be processed are five-pointed star place
Position, corresponding destination locations a and destination locations b are circle position, and driving direction is corresponding arrow direction, this
When as the 6th class conflict scene type.
S1002, if the robot spacing of robot to be processed and higher priority robot is greater than default third distance threshold,
And robot side line to be processed road has a lot of social connections and is greater than default threshold value of having a lot of social connections, and controls robot to be processed pre- apart from its destination locations
If suspending traveling at distance, until higher priority robot completes task, restore robot traveling to be processed.
S1003, if the robot spacing of robot to be processed and higher priority robot is not more than default third apart from threshold
Value, and robot side line to be processed road has a lot of social connections and is greater than default threshold value of having a lot of social connections, and controls robot to be processed and changes driving direction traveling,
Until higher priority robot reaches its destination locations.
It such as can be set in two robot distance 2m, low priority robot does not reach evacuation point, low priority also
Robot will solve retrogressing in the way of narrow gauge.Wherein, specific second distance threshold value, third distance threshold and threshold value of having a lot of social connections
Etc. threshold sizes, can be arranged according to actual needs by technical staff.
In order to improve task execution efficiency, evacuation is avoided to cause to waste the excessive time, in embodiments of the present invention, preferably
In two robots at a distance of 8m, and when robot to be processed is less than 4m from its destination locations, starts to process evacuation and handles.
Evacuation row is carried out as to the identification of region scene classification of type in the embodiment of the present invention four and for different type
Another specific implementation sailed, as shown in Figure 11 A and 11B, the embodiment of the present invention 11, comprising:
S1101, if path type is the driving direction phase of straight road, higher priority robot and robot to be processed
It is right, and the range difference of higher priority robot and robot destination locations to be processed is greater than default 4th distance threshold, then sentences
Determining environmental area is the 7th class conflict scene type.
As shown in Figure 11 B, it is assumed that the current location of robot A and higher priority robot B to be processed are five-pointed star place
Position, corresponding destination locations a and destination locations b are circle position, at a distance of more than the 4th distance threshold, traveling side
To for corresponding arrow direction, as the 7th class conflicts scene type at this time.
S1102 controls robot and higher priority robot to be processed in phase if Road is wider than default threshold value of having a lot of social connections
When away from default five distance threshold, change rail is carried out, keeps to the right or keeps to the left, until completing meeting.
S1103 controls robot to be processed and changes driving direction traveling if road is had a lot of social connections no more than default threshold value of having a lot of social connections,
Until traveling extremely evacuation point.
When needing traveling to other side robot rear, the embodiment of the present invention can be kept away according to situation is actually had a lot of social connections
Allow, to guarantee the normally travel of robot as much as possible and only need task, wherein specifically evacuation procedural details can refer to it is above-mentioned
Related description in the embodiment of the present invention three to ten, it will not go into details herein.
In the embodiments of the present invention three to 11, when the wider robot of road can carry out in opposite directions on same road
Traveling is without colliding, but in order to guarantee robot security, at this moment in the robot of road pause traveling for, preferably
Ground can be set to keep to the right and suspend traveling again at wall.Meanwhile avoidance point refers to can guarantee Liang Ge robot
Position of the safety meeting without collision, such as wide road or the crossing cross road etc., specifically, can also be pre- by technical staff
Some avoidance points are first marked in path map, robot need to only be travelled to a nearest label avoidance point at this time.
Since existing main control device operation difficulty at high cost is big, personage's operation and maintenance of profession is needed, and is once led
Control device fails, which can directly result in all robots, can not all carry out evacuation traveling, therefore, robot in the prior art
Avoid running method the defects of there are at high cost, reliabilities, poor low efficiency, it is difficult to effective guarantee indoor environment Zhong Duotai robot
Safety traffic.
In order to improve the flexibility and efficiency of robot evacuation, in the embodiment of the present invention, robot itself carries out implementation punching
It is prominent to detect and carry out evacuation traveling, so that robot evacuation traveling control can be no longer dependent on any other control and set
Standby, the evacuation of each robot traveling is more flexible safe without artificial control maintenance independently of each other, while only low priority
Robot needs to carry out the operation such as collision detection and evacuation processing, keeps away for the robot of high priority without carrying out conflict
It the processing operations such as allows, only needs normally travel, for relatively whole all robot United Dispatchings, considerably reduce entirety
The workload of robot avoids all robots and all necessarily participates in and Guaranteed (in practical application, each keeps away into evacuation traveling
It allows in scene all at least one high priorities, therefore can theoretically greatly reduce the robot for participating in evacuation traveling control
Quantity), to greatly improve the efficiency of evacuation traveling, so that robot evacuation traveling is more flexible and efficient, robot is whole
Body task execution is more efficient.Meanwhile declining the robot priority of no task status, so that being carrying out the machine of task
People's priority " raising " causes the robot of no task to become the side actively avoided, reduces no task equipment people to normal
The interference for executing task equipment people, maximumlly ensure that the normal execution of robot task, simultaneously as having task and nothing to appoint
Business is that (no task status is not including arranging task and having executed task, one of machine for a corresponding existing state
People is after having executed task, when corresponding Distance Time without traveling needed for task driving process etc. substantially can be with the task of execution
Be no different), although have task and the robot quantity without task be can real-time change, task and there is task to be due to having executed
One corresponding process, and include the case where not arranging task without task, therefore for whole statistics such as one in a period of time
In it, robot can be greater than the state for time for having task without the task status time, and therefore, the embodiment of the present invention can be straight
Connect reduce robot entirety half multipriority so that largely be originally need to carry out conflict avoiding processing operation robot it is excellent
First grade " raising ", no longer needs to carry out these calculating process, it is only necessary to which normally travel is fixed excellent under priority case relatively
For first grade evacuation, the overall task for greatly improving robot is executed so that whole robot execute task efficiency and
Flexibility is greatly improved.
Figure 12 shows the implementation flow chart of the robot evacuation driving system of the offer of the embodiment of the present invention one, is described in detail such as
Under: it include: one or more robot to be processed.
S1201, robot to be processed include in topological path map and environment for obtaining its local environment
The priority of robot, the current location in topological path map and driving parameters.
S122, robot to be processed are also used to priority based on topological path map and all robots and current
The high priority machine that all priority in the environmental area of its locating default size are higher than robot to be processed is searched in position
People.
S1203, robot to be processed are also used to when the higher priority robot quantity found out is greater than zero, identification ring
The region scene type in border region.
S1204, robot to be processed are based on region if being also used to region scene type belongs to default conflict scene type
The corresponding default evacuation mode of scene type, environment path map, the current location of robot to be processed and driving parameters and
The current location of higher priority robot and driving parameters carry out evacuation traveling to higher priority robot.
It include an at least robot to be processed in system, to realize the traveling between robot in the embodiment of the present invention
Evacuation, specifically, the process that robot provided in an embodiment of the present invention evacuation driving system Zhong Ge robot function is realized, tool
Body can refer to the description of aforementioned embodiment illustrated in fig. 1 one, and details are not described herein again.
Meanwhile the embodiment of the present invention two is to the embodiment of the present invention 11 and other related method embodiments, it is combinable
Robot to be processed in the embodiment of the present invention is applied, and robot to be processed may be implemented such as inventive embodiments two at this time
It can refer to related description to the embodiment of the present invention 11 and the function course of other related method embodiments, detail, this
It will not go into details at place.
Corresponding to the method for foregoing embodiments, Figure 13 shows robot evacuation mobile devices provided in an embodiment of the present invention
Structural block diagram, for ease of description, only parts related to embodiments of the present invention are shown.The exemplary robot evacuation of Figure 13
Mobile devices can be the executing subject of the robot evacuation running method of the offer of previous embodiment one.
Referring to Fig.1 3, robot evacuation mobile devices include:
Data acquisition module 131, in the topological path map and environment for obtaining robot local environment to be processed
The priority for the robot for including, the current location in the topological path map and driving parameters.
Searching module 132, for priority and current location based on the topological path map and all robots,
It searches in the environmental area for presetting size locating for the robot to be processed, all priority are higher than the robot to be processed
Higher priority robot.
Scene Recognition module 133, for when the higher priority robot quantity found out is greater than zero, described in identification
The region scene type of environmental area.
Evacuation traveling module 134 is based on the area if belonging to default conflict scene type for the region scene type
The corresponding default evacuation mode of domain scene type, the environment path map, the current location of the robot to be processed and row
Current location and the driving parameters of parameter and the higher priority robot are sailed, control the robot to be processed to the height
Priority robot carries out evacuation traveling.
Further, scene Recognition module 133, comprising:
Based on the path type for including in environmental area described in the topological path Map recognition.
Based on the topological path map, the current location of the higher priority robot, driving direction and purpose status
It sets and current location, driving direction and destination locations with the robot to be processed, identifies the high priority machine
People and the robot to be processed are with the presence or absence of traveling conflict.
If there is traveling conflict in the higher priority robot and the robot to be processed, based on the path type,
Current location, driving direction and the destination locations of the higher priority robot and and the robot to be processed it is current
Position, driving direction and destination locations identify the region scene type of the environmental area.
Further, scene Recognition module 133 and evacuation traveling module 134, comprising:
If the path type is crossroad, the higher priority robot and the robot current location to be processed point
Not Wei Yu the destination locations of the different cross road in crossroad, the higher priority robot and the robot to be processed be located at
The same cross road, and the non-higher priority robot of the cross road locating for destination locations or the robot current location to be processed
The cross road at place then determines the environmental area for first kind conflict scene type.
Calculate the robot current location to be processed respectively with intersection distance a and the high priority machine
Device people current location and intersection distance b, wherein a, b are positive number.
If b-a > c, or | a-b |≤c controls the robot pause traveling to be processed, until the high priority machine
Device people, which travels to the higher priority robot current location and destination locations, is located at the same cross road, restores the machine to be processed
Device people traveling, wherein c is preset constant item.
If a-b > c, controls the robot to be processed and travelled to its destination locations, and control the robot to be processed
Pause driving instruction is sent to the higher priority robot, the pause driving instruction is for controlling the high priority machine
People suspends traveling, until the robot to be processed travels to the robot current location to be processed and is located at destination locations
The same cross road restores the higher priority robot traveling.
Further, scene Recognition module 133 and evacuation traveling module 134, further includes:
If the path type is turning road, the higher priority robot and the robot current location to be processed point
Wei Yu not turn road two sides road, and the driving direction of the higher priority robot and the robot to be processed is directed to turn
Curved mouth then determines that the environmental area is the second class conflict scene type.
It identifies that road locating for the robot to be processed is had a lot of social connections based on the environment path map and whether is greater than default have a lot of social connections
Threshold value.
If the Road is wider than the default threshold value of having a lot of social connections, the robot pause traveling to be processed is controlled, until
The higher priority robot current location and the robot current location to be processed are in ipsilateral road, and described high preferential
Grade robot driving direction is not directed to turning mouth, restores the robot traveling to be processed.
If the road have a lot of social connections it is small be equal to the default threshold value of having a lot of social connections, control the robot to be processed away from turning mouth row
It sails, until the robot to be processed is travelled to avoidance point preset in the environment path map, controls the machine to be processed
Device people suspends in avoidance point to travel.
Further, data acquisition module 131, comprising:
Receive within the scope of the robot communication to be processed robot broadcast the first robot information and it is described to
What the robot in handling machine people's communication range relayed, by environment but in the robot communication range to be processed
Second robot information of outer robot broadcast, wherein include the robot to be processed in first robot information
Priority, current location and the driving parameters of robot in communication range, comprising being in ring in second robot information
Priority, current location and the driving parameters of robot domestic but outside the robot communication range to be processed.
Handled based on first robot information and second robot information, obtain in environment except it is described to
Priority, current location and the driving parameters of all robots other than handling machine people.
Further, data acquisition module 131, further includes:
Obtain the corresponding task completion status of the robot to be processed.
If task completion status is to set the machine to be processed for preset first default priority in task execution
The corresponding priority of people.
If task completion status is no task, the robot pair to be processed is set by preset second default priority
The priority answered, wherein the first default priority is higher than the second default priority.
Each module realizes the process of respective function in robot evacuation mobile devices provided in an embodiment of the present invention, specifically may be used
With reference to the description of aforementioned embodiment illustrated in fig. 1 one, details are not described herein again.Corresponding to the embodiments of the present invention two to 11, originally
Each module can also function corresponding with the embodiment of the present invention two to 11 in the robot evacuation mobile devices that inventive embodiments provide
Energy module carries out any combination, realizes corresponding application, detail can refer to the description of the embodiment of the present invention two to 11.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Although will also be appreciated that term " first ", " second " etc. are used in some embodiment of the present invention in the text
Various elements are described, but these elements should not be limited by these terms.These terms are used only to an element
It is distinguished with another element.For example, the first table can be named as the second table, and similarly, the second table can be by
It is named as the first table, without departing from the range of various described embodiments.First table and the second table are all tables, but
It is them is not same table.
Figure 14 is the schematic diagram for the robot that one embodiment of the invention provides.As shown in figure 14, the robot of the embodiment
14 include: processor 140, memory 141, and the calculating that can be run on the processor 140 is stored in the memory 141
Machine program 142.The processor 140 realizes above-mentioned each robot evacuation running method when executing the computer program 142
Step in embodiment, such as step 101 shown in FIG. 1 is to 106.Alternatively, the processor 140 executes the computer program
The function of each module/unit in above-mentioned each Installation practice, such as the function of module 131 to 134 shown in Figure 13 are realized when 142.
The robot 14 can be desktop PC, notebook, palm PC and cloud server etc. and calculate equipment.
The robot may include, but be not limited only to, processor 140, memory 141.It will be understood by those skilled in the art that Figure 14 is only
It is only the example of robot 14, does not constitute the restriction to robot 14, may include components more more or fewer than diagram, or
Person combines certain components or different components, such as the robot can also be set including input sending device, network insertion
Standby, bus etc..
Alleged processor 140 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 141 can be the internal storage unit of the robot 14, such as the hard disk or interior of robot 14
It deposits.The memory 141 is also possible to the External memory equipment of the robot 14, such as is equipped in the robot 14 slotting
Connect formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory
Block (Flash Card) etc..Further, the memory 141 can also both include the internal storage unit of the robot 14
It also include External memory equipment.The memory 141 is for storing needed for the computer program and the robot it
His program and data.The memory 141, which can be also used for temporarily storing, have been sent or data to be sent.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the essence of corresponding technical solution is departed from the spirit and scope of the technical scheme of various embodiments of the present invention, it should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of robot avoids running method characterized by comprising
Obtain the robot for including in the topological path map and environment of robot local environment to be processed priority,
Current location and driving parameters in the topological path map；
The robot to be processed is searched in priority and current location based on the topological path map and all robots
In the environmental area of locating default size, all priority are higher than the higher priority robot of the robot to be processed；
When the higher priority robot quantity found out is greater than zero, the region scene type of the environmental area is identified；
If the region scene type belongs to default conflict scene type, it is based on the corresponding default evacuation of the region scene type
Mode, the environment path map, the current location of the robot to be processed and driving parameters and the high priority machine
The current location of device people and driving parameters control the robot to be processed and carry out evacuation row to the higher priority robot
It sails.
2. robot as described in claim 1 avoids running method, which is characterized in that include traveling side in the driving parameters
To and destination locations, the region scene type of the identification environmental area, comprising:
Based on the path type for including in environmental area described in the topological path Map recognition；
Based on the topological path map, the current location of the higher priority robot, driving direction and destination locations with
And current location, driving direction and destination locations with the robot to be processed, identify the higher priority robot and
The robot to be processed is with the presence or absence of traveling conflict；
If the higher priority robot and the robot to be processed have traveling conflict, based on the path type, described
Current location, driving direction and the destination locations of higher priority robot and and the robot to be processed present bit
It sets, driving direction and destination locations, identifies the region scene type of the environmental area.
3. robot as claimed in claim 2 avoids running method, which is characterized in that the area of the identification environmental area
Domain scene type；If the region scene type belongs to default conflict scene type, corresponding based on the region scene type
Default evacuation mode, the environment path map, the current location of the robot to be processed and driving parameters and the height
The current location of priority robot and driving parameters control the robot to be processed and carry out to the higher priority robot
Evacuation traveling, comprising:
If the path type is that position is distinguished in crossroad, the higher priority robot and the robot current location to be processed
The destination locations of the different cross road, the higher priority robot and the robot to be processed in crossroad are located at same
The cross road, and where the non-higher priority robot of the cross road locating for destination locations or the robot current location to be processed
The cross road, then determine the environmental area for the first kind conflict scene type；
Calculate the robot current location to be processed respectively with intersection distance a and the higher priority robot
Current location and intersection distance b, wherein a, b are positive number；
If b-a > c, or | a-b |≤c controls the robot pause traveling to be processed, until the higher priority robot
Traveling to the higher priority robot current location and destination locations is located at the same cross road, restores the robot to be processed
Traveling, wherein c is preset constant item；
If a-b > c, controls the robot to be processed and travelled to its destination locations, and control the robot to be processed to institute
It states higher priority robot and sends pause driving instruction, the pause driving instruction is temporary for controlling the higher priority robot
Stop travelling, until the robot to be processed is travelled to the robot current location to be processed with destination locations positioned at same
The cross road restores the higher priority robot traveling.
4. robot as claimed in claim 2 avoids running method, which is characterized in that the area of the identification environmental area
Domain scene type；If the region scene type belongs to default conflict scene type, corresponding based on the region scene type
Default evacuation mode, the environment path map, the current location of the robot to be processed and driving parameters and the height
The current location of priority robot and driving parameters control the robot to be processed and carry out to the higher priority robot
Evacuation traveling, further includes:
If the path type is that position is distinguished in turning road, the higher priority robot and the robot current location to be processed
In turning road two sides road, and the driving direction of the higher priority robot and the robot to be processed is directed to turn
Mouthful, then determine that the environmental area is the second class conflict scene type.
It identifies that road locating for the robot to be processed is had a lot of social connections based on the environment path map and whether is greater than default threshold value of having a lot of social connections；
If the Road is wider than the default threshold value of having a lot of social connections, the robot pause traveling to be processed is controlled, until described
Higher priority robot current location and the robot current location to be processed are in ipsilateral road, and the high priority machine
Device people's driving direction is not directed to turning mouth, restores the robot traveling to be processed；
If the road have a lot of social connections it is small be equal to the default threshold value of having a lot of social connections, control the robot to be processed away from turning mouth traveling,
Until the robot to be processed is travelled to avoidance point preset in the environment path map, the robot to be processed is controlled
Suspend in avoidance point and travels.
5. the robot as described in Claims 1-4 any one avoids running method, which is characterized in that the acquisition environment
The priority for the robot for inside including, the current location in the topological path map and driving parameters, comprising:
Receive the first robot information and described to be processed of the robot broadcast within the scope of the robot communication to be processed
What the robot within the scope of robot communication relayed, by environment but outside the robot communication range to be processed
Second robot information of robot broadcast, wherein include the robot communication to be processed in first robot information
Priority, current location and the driving parameters of robot in range, comprising in environment in second robot information
But priority, current location and the driving parameters of the robot outside the robot communication range to be processed；
It is handled, is obtained in environment except described to be processed based on first robot information and second robot information
Priority, current location and the driving parameters of all robots other than robot.
6. the robot as described in Claims 1-4 any one avoids running method, which is characterized in that the acquisition environment
The priority for the robot for inside including, the current location in the topological path map and driving parameters, further includes:
Obtain the corresponding task completion status of the robot to be processed；
If task completion status is to set the robot pair to be processed for preset first default priority in task execution
The priority answered；
If task completion status is no task, it is corresponding that the robot to be processed is set by preset second default priority
Priority, wherein the first default priority is higher than the second default priority.
7. a kind of robot avoids mobile devices characterized by comprising
Data acquisition module includes in the topological path map and environment for obtaining robot local environment to be processed
The priority of robot, the current location in the topological path map and driving parameters；
Searching module searches institute for priority and current location based on the topological path map and all robots
It states in the environmental area for presetting size locating for robot to be processed, the height that all priority are higher than the robot to be processed is preferential
Grade robot；
Scene Recognition module, for identifying the ambient zone when the higher priority robot quantity found out is greater than zero
The region scene type in domain；
Evacuation traveling module is based on the region scene if belonging to default conflict scene type for the region scene type
The corresponding default evacuation mode of type, the environment path map, the current location of the robot to be processed and driving parameters
And current location and the driving parameters of the higher priority robot, the robot to be processed is controlled to the high priority
Robot carries out evacuation traveling.
8. a kind of robot avoids driving system characterized by comprising one or more robot to be processed；
The robot to be processed, the robot for including in the topological path map and environment for obtaining its local environment
Priority, the current location in the topological path map and driving parameters；
The robot to be processed is also used to priority and present bit based on the topological path map and all robots
It sets, searches the high priority machine that all priority in the environmental area of its locating default size are higher than the robot to be processed
People；
The robot to be processed is also used to when the higher priority robot quantity found out is greater than zero, described in identification
The region scene type of environmental area；
The robot to be processed is based on the area if being also used to the region scene type belongs to default conflict scene type
The corresponding default evacuation mode of domain scene type, the environment path map, the current location of the robot to be processed and row
Current location and the driving parameters for sailing parameter and the higher priority robot, avoid the higher priority robot
Traveling.
9. a kind of robot, which is characterized in that the robot includes memory, processor, and being stored on the memory can
The computer program run on the processor, the processor realize such as claim 1 when executing the computer program
The step of to any one of 5 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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| CN201910637516.XA CN110377038A (en) | 2019-07-15 | 2019-07-15 | A kind of robot evacuation running method, device and robot |
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| CN201910637516.XA CN110377038A (en) | 2019-07-15 | 2019-07-15 | A kind of robot evacuation running method, device and robot |
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Application publication date: 20191025 |